基于激光二维扫描的船模航行轨迹测量系统的研究

发布时间：2018-03-04 10:12

本文选题：船模航行轨迹　切入点：激光二维扫描　出处：《天津大学》2014年硕士论文　论文类型：学位论文

【摘要】：贵港航运枢纽作为广西对郁江开展综合利用计划的十梯级中的第九梯级,同时也是西江航运干线中从南宁到梧州这一航线段的第二个渠化梯级。它位于郁江河道中段的贵港市区的上游,枢纽目前是以内河航运为主,发电为辅,以综合利用水资源为目标的水利枢纽型工程。已有的通航建筑物为一线船闸,和新建的贵港二线船闸。由于在多线船闸的设计与布置中,某线船闸输水量大小会对其他船闸产生影响,同时引航道和口门区的通航水流状况较为复杂,为保证船只的安全通航,开展船模测量实验,为实际通航情况中航线的设计与制定提供参考与指导。本文研究设计的船模轨迹测量系统研究测量的船舶模型的航行河道,就是贵港航运枢纽主河槽二线船闸引航道及口门区的1:100的同比例缩小的模型。为了实现对河道模型中的通航船模的航行轨迹及其漂角数据信息的自动化测量,设计了一套基于激光二维扫描仪,并与三维电子罗盘相结合的通航船模航行轨迹实时测量系统。测量系统主要包括LMS激光二维扫描仪,HEC365三维电子罗盘,DSP控制单元电路,船模圆柱靶标,无线通讯模块与供电电池,及数据采集及处理软件6个部分。本文首先对系统的主要测量设备,即激光扫描仪和电子罗盘的工作原理与使用情况进行了研究,并针对其性能参数进行试验验证。然后针对系统的硬件搭建进行研究,实现了系统上位机河岸测量站和下位机船模测量模块的硬件组装。其后,根据系统数据通信与处理的具体要求,完成了系统软件的架构与编制。最后,为验证系统的测量性能,进行了现场测量实验。实验结果表明,测量系统可以现场40m的测量范围内满足现场测量±5mm的精度要求,准确绘制出船模的航行轨迹,为船模通航试验的检测与控制等研究提供了很好地试验方法。
[Abstract]:Guigang Shipping Hub is the 9th step of the ten steps of Guangxi's comprehensive utilization plan for the Yujiang River. It is also the second transpire of the Xijiang main line from Nanning to Wuzhou. It is located in the upper reaches of Guigang City in the middle section of the Yujiang River. At present, the hub is dominated by inland navigation, supplemented by electricity generation. The water conservancy project with the aim of comprehensive utilization of water resources. The existing navigable building is the first line lock, and the newly built Guigang second line lock. Because of the design and arrangement of the multi-line lock, In order to ensure the safe navigation of the ship, the ship model measurement experiment is carried out to ensure the safe navigation of the ship, because of the influence of the water quantity of the ship lock on the other locks, and the complicated navigable flow condition in the approach channel and the entrance area. In this paper, the ship model trajectory measurement system is designed to study the navigation channel of the ship model. In order to realize the automatic measurement of navigation path and drift angle data information of navigable ship model in the river course model, it is a 1: 100 proportional reduction model of approach channel and orifice area of main channel and second line lock of Guigang Shipping Hub, in order to realize the automatic measurement of navigation track and drift angle data information of navigable ship model in river course model. A real-time navigation trajectory measurement system based on laser scanner and combined with 3D electronic compass is designed. The measuring system mainly includes LMS laser scanner HEC365 3D electronic compass DSP control unit circuit. There are six parts of ship model cylindrical target, wireless communication module and power supply battery, and data acquisition and processing software. Firstly, the principle and application of the main measuring equipment of the system, namely laser scanner and electronic compass, are studied in this paper. And the performance parameters of the system are tested and verified. Then the hardware structure of the system is studied, and the hardware assembly of the riverbank survey station and the ship model measurement module of the upper computer of the system is realized. According to the specific requirements of the system data communication and processing, the architecture and programming of the system software are completed. Finally, in order to verify the measurement performance of the system, a field measurement experiment is carried out. The experimental results show that, The measurement system can meet the accuracy requirement of 卤5mm in the field measurement range of 40m, and accurately draw the navigation track of the ship model, which provides a good test method for the research of the ship model navigation test detection and control.
【学位授予单位】：天津大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：U641.2

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